Income Taxes (Details 3)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
Statutory federal tax rate	21.00%	21.00%	35.00%
State taxes	2.60%	2.50%	1.80%
Foreign rate differential	2.70%	(0.20%)	(10.70%)
Foreign, federal and state income tax credits	(3.30%)	(1.50%)	(2.00%)
Effective Income Tax Rate Reconciliation, Tax Settlement, Foreign, Percent	0.00%	(10.80%)	0.10%
Effective Income Tax Rate Reconciliation, Change in Enacted Tax Rate, Percent	0.00%	(2.60%)	23.80%
Effective Income Tax Rate Reconciliation,Other Reconciling Items, Percent	1.00%	0.00%	5.10%
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Percent	2.30%	(0.80%)	5.40%
Effective Income Tax Rate Reconciliation, Tax Settlement, Domestic, Percent	6.70%	0.00%	0.00%
Other	(3.90%)	0.40%	3.10%
Effective tax rate	29.10%	8.00%	61.60%